LEARNING AND CONTROL DEVICE, LEARNING DEVICE, CONTROL DEVICE, LEARNING AND CONTROL METHOD, LEARNING METHOD, CONTROL METHOD, LEARNING AND CONTROL PROGRAM, LEARNING PROGRAM, AND CONTROL PROGRAM

Title:

LEARNING AND CONTROL DEVICE, LEARNING DEVICE, CONTROL DEVICE, LEARNING AND CONTROL METHOD, LEARNING METHOD, CONTROL METHOD, LEARNING AND CONTROL PROGRAM, LEARNING PROGRAM, AND CONTROL PROGRAM

Document Type and Number:

WIPO Patent Application WO/2023/276364

Kind Code:

A1

Abstract:

A learning device in a learning and control device generates a plurality of dynamics models, and learns a switching model that identifies, among the dynamics models, a dynamics model corresponding to a state of a robot and a command operation. A control device acquires the state of the robot; generates a plurality of tentative command sequences for the robot; identifies a dynamics model to be applied for each command and the state corresponding to the command, by implementing a switching model by inputting the respective commands included in each tentative command sequence, and states corresponding to the respective commands; generates, for each of the tentative command sequences, a predicted state sequence using the dynamics model identified corresponding to each of the commands included in the tentative command sequence; generates a predicted command sequence that is predicted to maximize reward of the predicted state sequence; and outputs a first command included in the predicted command sequence.

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Inventors:

IJIRI YOSHIHISA (JP)
VON DRIGAKSKI FELIX (JP)
TANAKA KAZUTOSHI (JP)
HAMAYA MASASHI (JP)
YONETANI RYO (JP)

Application Number:

PCT/JP2022/014694

Publication Date:

January 05, 2023

Filing Date:

March 25, 2022

Export Citation:

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Assignee:

OMRON TATEISI ELECTRONICS CO (JP)

International Classes:

B25J9/22; G05B13/02; G06N20/00

Foreign References:

JP2020104215A	2020-07-09
JP2018124982A	2018-08-09